concepts.hw_interface.rby1a.client.RBY1AInterfaceClient

class RBY1AInterfaceClient

Bases: object

Methods

get_captures()
get_captures_compressed()
get_qpos()
get_vector_qpos()
move_gripper_close(gripper_name[, ...])
move_gripper_open(gripper_name)
move_gripper_percent(gripper_name, percent)
move_gripper_percent_trajectory(...)
move_gripper_qpos_trajectory(gripper_name, ...)
move_qpos(qpos[, timeout, min_time])
move_qpos_if_not_close(qpos[, atol, ...])
move_qpos_trajectory(trajectory[, dt, ...])
move_zero([min_time])
power_off()
power_on()
reset_stream()

Attributes

DEFAULT_NAME
DEFAULT_PORTS

__init__(server, ports=None, name=DEFAULT_NAME)

Parameters:

• server (str)

• ports (Tuple[int, int] | None)

• name (str)

__new__(**kwargs)

get_captures()

Return type:

Dict[str, Dict[str, ndarray]]

get_captures_compressed()

Return type:

Dict[str, Dict[str, ndarray]]

get_qpos()

Return type:

Dict[str, ndarray]

get_vector_qpos()

Return type:

ndarray

move_gripper_close(gripper_name, remaining_percent=0.0)

Parameters:

• gripper_name (str)

• remaining_percent (float)

move_gripper_open(gripper_name)

Parameters:

gripper_name (str)

move_gripper_percent(gripper_name, percent)

Parameters:

• gripper_name (str)

• percent (float)

move_gripper_percent_trajectory(gripper_name, trajectory)

Parameters:

• gripper_name (str)

• trajectory (ndarray | list)

move_gripper_qpos_trajectory(gripper_name, trajectory)

Parameters:

• gripper_name (str)

• trajectory (ndarray | list)

move_qpos(qpos, timeout=5, min_time=1.666)

Parameters:

• qpos (Dict[str, ndarray | list])

• timeout (float)

• min_time (float)

move_qpos_if_not_close(qpos, atol=1e-3, timeout=5, min_time=1.666)

Parameters:

• qpos (Dict[str, ndarray | list])

• atol (float)

• timeout (float)

• min_time (float)

move_qpos_trajectory(trajectory, dt=0.5, min_time_multiplier=5, first_min_time=None, command_timeout=1.0)

Parameters:

• trajectory (List[Dict[str, ndarray | list]])

• dt (float)

• first_min_time (float | None)

• command_timeout (float)

move_zero(min_time=10)

Parameters:

min_time (float)

power_off()

power_on()

reset_stream()

DEFAULT_NAME = 'concepts::rby1_interface'

DEFAULT_PORTS = (12345, 12346)